Manipulator collision detection device, and manipulator control device and method using the same

Collision Detection Technology for Sensorless Manipulators Combining Torque Filtering and Property Calibration

This technology is a collision detection device and control method that calculates and detects external collision forces in real-time without acceleration data. It works by filtering joint torque values measured from torque sensors or motor currents and comparing them with predicted values based on a mathematical model that utilizes the manipulator's physical properties, position, and velocity.

In the absence of acceleration sensors, calculating acceleration data through the second derivative of joint position values is susceptible to noise, and errors in the robot's physical properties have historically led to performance degradation or malfunctions in collision detection.

This technology proposes a method that applies filtering to joint torque to implement a mathematical model that excludes acceleration terms, while performing real-time calibration of physical property data through calculations based on whether an object is being gripped. Applicable to collaborative robots and industrial manipulators, it enables accurate collision detection that accounts for the state of carrying an object, even without acceleration sensors.

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Key Features:

• Torque filter that processes joint torque values measured from torque sensors or drive motors
• Predictive calculation unit that estimates filtered torque values using the manipulator's physical properties, position, and velocity data
• System that calculates external collision forces by comparing values from the torque filter and the predictive calculation unit
• Model identification unit that performs physical property correction calculations based on whether a workpiece is being gripped

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This invention was developed with support from the Korea Institute for Robot Industry Advancement under the Ministry of Knowledge Economy for autonomous intelligent manipulation for service robots.